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Fix eval finetuned #40

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merged 2 commits into from
Jan 23, 2024
Merged

Fix eval finetuned #40

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f41240f
fix aloha sim env registration imports
kpertsch Jan 19, 2024
57cc7d4
fix pre-commit
kpertsch Jan 19, 2024
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2 changes: 1 addition & 1 deletion .pre-commit-config.yaml
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Expand Up @@ -24,7 +24,7 @@ repos:
rev: 6.1.0
hooks:
- id: flake8
exclude: ^experiments/
exclude: ^experiments/|^examples/03_eval_finetuned.py
- repo: https://github.com/pycqa/isort
rev: 5.12.0
hooks:
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13 changes: 12 additions & 1 deletion examples/03_eval_finetuned.py
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Expand Up @@ -6,16 +6,27 @@
Then run:
pip3 install opencv-python modern_robotics pyrealsense2 h5py_cache pyquaternion pyyaml rospkg pexpect mujoco==2.3.3 dm_control==1.0.9 einops packaging h5py

Finally modify the sys.path.append statement below to add the ACT repo to your path and start a virtual display:
Finally, modify the `sys.path.append` statement below to add the ACT repo to your path.
If you are running this on a head-less server, start a virtual display:
Xvfb :1 -screen 0 1024x768x16 &
export DISPLAY=:1

To run this script, run:
cd examples
python3 03_eval_finetuned.py --filetuned_path=<path_to_finetuned_aloha_checkpoint>
"""
import sys

from absl import app, flags, logging
import gym
import jax
import numpy as np
import wandb

sys.path.append("path/to/your/act")

from envs.aloha_sim_env import AlohaGymEnv # keep this to register ALOHA sim env

from octo.model.octo_model import OctoModel
from octo.utils.gym_wrappers import HistoryWrapper, RHCWrapper, UnnormalizeActionProprio

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